JP2021079743A - Moving body - Google Patents

Abstract

To provide a moving body that can secure safety in travelling corresponding to a model that is mounted on a cabin part and create a travelling route meeting with conditions for a person and a cargo.SOLUTION: A mobility 16 as a moving body comprises: a self-propelled carriage part 17 that comprises a steering wheel 170F and a driving wheel 170R and can autonomously travel by the steering wheel 170F and the driving wheel 170R; and a cabin part 18 that can be detachably attached to the self-propelled carriage part 17. The self-propelled carriage part 17 has an automatic operation ECU 178 that obtains feature information on the cabin part 18. When the cabin part 18 is attached to the self-propelled carriage part 17, the self-propelled carriage part 17 switches travelling control of autonomous travelling on the basis of the feature information on the cabin part 18. The feature information on the cabin part 18 includes at least one of mass, a height in a vertical direction of an outer groove of the cabin part, a position of a center of gravity, a feature of a boarding object boarded thereon, and an acceleration request level or allowable obliquity.SELECTED DRAWING: Figure 18

Description

The present disclosure relates to a moving body that can be moved using wheels.

In recent years, research and development of self-driving cars has been actively carried out all over the world. The autonomous driving vehicle described in Patent Document 1 is acquired by a vehicle information acquisition unit that acquires vehicle information, a travel instruction information generation unit that generates driving instruction information using three-dimensional map information, and a vehicle information acquisition unit. It has a correction information generation unit that corrects the driving instruction information generated by the driving instruction information generation unit based on the information obtained, and can improve the riding comfort of automatic driving for each vehicle.

International Publication No. 2016/027393

However, in the self-driving car described in Patent Document 1 described above, the riding comfort can be improved by the weight, the center of gravity, the number of passengers, etc., but in the case of passengers, infants, the elderly, the sick, etc. can be distinguished. However, in the case of cargo, it is not possible to obtain information on the cargo itself, such as fragility, liquids, and precision equipment, and it is not possible to sufficiently ensure driving safety in each case. In addition, it is not possible to generate a travel route that matches the conditions of passengers and cargo.

This disclosure can ensure the safety of driving according to the type (infant, elderly, sick, fragile, liquid, precision equipment, dangerous goods, etc.) mounted on the cabin, and the driving route according to the conditions of people and cargo. It is an object of the present invention to provide a moving body capable of generating.

The moving body of the present disclosure includes at least one steering wheel and at least one driving wheel, and is attached to and detached from the first body and the first body that can autonomously travel by the steering wheel and the driving wheel. When the first body has an attribute information acquisition circuit for acquiring the attribute information of the second body, and the second body is attached to the first body. The first body is a moving body that switches the running control of autonomous running based on the attribute information of the second body, and the attribute information of the second body is the mass of the second body, the said. The height of the exterior of the second body in the vertical direction, the position of the center of gravity of the second body, the attributes of the vehicle mounted on the second body, the acceleration requirement level of the second body, or the tolerance of the second body. Includes at least one of the slopes.

According to the present disclosure, when the second body is attached to the first body, the first body acquires the attribute information of the second body and switches the traveling control of autonomous driving based on the acquired attribute information. Therefore, especially when the second body carries infants, toddlers, and the elderly, it is safe to change the driving conditions such as acceleration during acceleration / deceleration and acceleration during turning with an emphasis on ride comfort so that vehicle sickness does not occur. When traveling is possible and the second body carries fragile or vibration-sensitive items as cargo, not only the acceleration is changed for safe transportation, but also rough roads with large vibrations, steep slopes, and traffic jams. It can be avoided and safely transported.

In the moving body of the present disclosure, the steering wheel and the driving wheel are the same in the above configuration.

According to the present disclosure, the steering wheel can also serve as the drive wheel (in the so-called FF (Front-engine Front-drive) drive system, the steering wheel also serves as the drive wheel).

In the mobile body of the present disclosure, in the above configuration, the second body includes an attribute information holding unit that holds the attribute information of the second body, and the attribute information acquisition circuit of the first body is the second body. The attribute information held by the attribute information holding unit of the body is acquired.

According to the present disclosure, attribute information can be easily exchanged between the first body and the second body.

In the mobile body of the present disclosure, in the above configuration, the second body includes an identification information holding unit that holds the identification information of the second body, and the first body is a wireless communication circuit capable of communicating with an external server. When the second body is mounted on the first body, the attribute information acquisition circuit acquires the identification information held by the identification information holding unit of the second body, and the wireless communication. The attribute information corresponding to the identification information is acquired via the circuit.

According to the present disclosure, the attribute information acquisition circuit of the first body acquires the attribute information corresponding to the identification information from the external server by acquiring the identification information held by the identification information holding unit of the second body. , Attribute information can be kept confidential.

In the above-described configuration, the moving body of the present disclosure has at least a first second body and a second second body, and the mass of the first second body is the first. The mass of the second second body is larger than the first weight, and the first second body is attached to the first body. In this case, the maximum speed of the predetermined turning radius in the traveling control of the autonomous traveling is the first speed, and when the second second body is attached to the first body, the autonomous driving is performed. The maximum speed of the predetermined turning radius in the traveling control of traveling is a second speed slower than the first speed.

According to the present disclosure, when the heavier second second body of the first second body and the second second body of the second body is attached to the first body, the lighter first body is attached. Since the maximum speed of the predetermined turning radius is slower than when the second body is attached to the first body, the centrifugal force can be reduced and safe running becomes possible.

In the above-described configuration, the moving body of the present disclosure has at least a third second body and a fourth second body, and the second body has at least a third second body in the vertical direction of the third body exterior. The height is the first length, and the height in the vertical direction of the fourth body outer structure is the second length, which is larger than the first length, and the third. When the second body of the above is attached to the first body, the maximum speed of the predetermined turning radius in the traveling control of the autonomous traveling is the third speed, and the fourth second body is the second body. When mounted on one body, the maximum speed of the predetermined turning radius in the traveling control of the autonomous traveling is a fourth speed slower than the third speed.

According to the present disclosure, of the third second body and the fourth second body of the second body, the fourth second body having the longer vertical height of the outer structure of the second body is the first. When attached to the body, the maximum speed of the predetermined turning radius is slower than when the lower third second body is attached to the first body, so that the centrifugal force can be reduced and safe running becomes possible.

In the above-described configuration, the moving body of the present disclosure has at least a fifth second body and a sixth second body, and the height of the center of gravity of the fifth body is high. Is the first height, and the height of the center of gravity of the sixth second body is higher than the first height, the second height is the fifth second body. Is attached to the first body, the maximum speed of the predetermined turning radius in the traveling control of the autonomous traveling is the fifth speed, and the sixth second body is attached to the first body. If so, the maximum speed of the predetermined turning radius in the traveling control of the autonomous traveling is a sixth speed slower than the fifth speed.

According to the present disclosure, of the fifth second body and the sixth second body of the second body, the sixth second body having the higher center of gravity position of the second body is used as the first body. When attached, the maximum speed of the predetermined turning radius is slower than when the lower fifth second body is attached to the first body, so that the centrifugal force can be reduced and safe running becomes possible.

In the above-described configuration, the moving body of the present disclosure has at least a third second body and a fourth second body, and the second body has at least a third second body in the vertical direction of the third body exterior. The height is the first length, and the height in the vertical direction of the fourth body outer structure is the second length, which is larger than the first length, and the third. When the second body of the above is attached to the first body, the traveling route in the traveling control of the autonomous traveling is the first route, and the fourth second body is attached to the first body. If so, the travel route in the travel control of the autonomous travel is the second route in which the height restriction in the route is looser than that of the first route.

According to the present disclosure, when the fourth second body whose vertical height in the vertical direction of the second body exterior is longer than that of the third second body is attached to the first body, the traveling control of autonomous traveling is performed. Since the traveling route in is the second route in which the height restriction in the route is looser than that of the first route in the traveling control of the autonomous traveling of the third second body, safe traveling in consideration of the height becomes possible. ..

In the moving body of the present disclosure, in the above configuration, the second body has at least a seventh second body and an eighth second body, and the allowable slope of the seventh second body is The first slope, the allowable slope of the eighth body, is a second slope that is smaller than the first slope, and the seventh second body is the second. When mounted on one body, the running route in the running control of the autonomous running is the third route, and when the eighth second body is mounted on the first body, the autonomous running The travel route in the travel control of travel is a fourth route having a smaller maximum slope in the route than the third route.

According to the present disclosure, when the eighth second body whose permissible slope is smaller than the permissible slope of the seventh second body is attached to the first body, the travel route in the travel control of autonomous travel is determined. Since the fourth route has a smaller maximum slope in the route than the third route in the running control of the autonomous running of the seventh second body, safe running in consideration of the slope is possible.

The traveling control switching control method for autonomous traveling of a moving body of the present disclosure includes at least one steering wheel and at least one driving wheel, and includes the steering wheel and a first body that can autonomously travel by the driving wheel. A traveling control switching control method for autonomous traveling of a moving body, which can be used in a moving body including a second body that can be attached to and detached from the first body, wherein the second body is the first body. When the second body is mounted on the vehicle, the attribute information of the second body is acquired, the traveling control of the autonomous traveling is switched based on the attribute information of the second body, and the attribute information of the second body is the attribute information of the second body. The mass of the second body, the height of the outer structure of the second body in the vertical direction, the position of the center of gravity of the second body, the attributes of the vehicle mounted on the second body, the acceleration requirement level of the second body, Alternatively, at least one of the allowable slopes of the second body is included.

According to the present disclosure, when the second body is attached to the first body, the first body acquires the attribute information of the second body and switches the traveling control of autonomous driving based on the acquired attribute information. Therefore, especially when the second body carries infants, toddlers, and the elderly, it is safe to change the driving conditions such as acceleration during acceleration / deceleration and acceleration during turning with an emphasis on ride comfort so that vehicle sickness does not occur. When traveling is possible and the second body carries fragile or vibration-sensitive items as cargo, not only the acceleration is changed for safe transportation, but also rough roads with large vibrations, steep slopes, and traffic jams. It can be avoided and safely transported.

According to the present disclosure, it is possible to sufficiently ensure the safety of driving in each of the case where a person is carried in the cabin and the case where the cargo is carried, and it is possible to generate a traveling route according to the conditions of the person and the cargo. It is possible to provide a mobile body that can.

A block diagram showing a schematic configuration of the mobile management system of the first embodiment. A perspective view showing the appearance of mobility in the mobile management system of the first embodiment. In the mobile body management system of the first embodiment, a perspective view showing a state in which the cabin portion of mobility is placed on the ground. In the mobile body management system of the first embodiment, a perspective view showing a state in which the cabin portion of the mobility is made independent by the legs. In the mobile body management system of the first embodiment, a perspective view showing a state in which a passenger-type cabin portion of mobility is made independent by legs. A perspective view showing the appearance of a mobility vending machine type in the mobile management system of the first embodiment. In the mobile body management system of the first embodiment, a perspective view showing a state in which the cabin portion is lowered from the self-propelled bogie portion and placed on the ground. In the mobile body management system of the first embodiment, a perspective view showing a product sales type cabin portion. In the mobile body management system of the first embodiment, the perspective view which shows the cabin part of the advertisement type. In the mobile body management system of the first embodiment, a perspective view showing a food and drink type cabin portion. In the mobile body management system of the first embodiment, a perspective view showing a break type cabin portion. In the mobile body management system of the first embodiment, a perspective view showing an accommodation type cabin portion. In the mobile body management system of the first embodiment, a perspective view showing a shower / toilet type cabin portion. In the mobile body management system of the first embodiment, a perspective view showing an event type cabin unit. In the mobile body management system of the first embodiment, a perspective view showing a leisure type cabin portion. A perspective view showing a state in which the battery of the cabin portion is charged by an external power source in the mobile body management system of the first embodiment. A flowchart for explaining an operation in mobility in the mobile management system of the first embodiment. A block diagram showing a schematic configuration of the mobile management system of the second embodiment. The figure which shows an example of the cabin part loading information held by the cabin side ECU of a cabin part in the mobile body management system of 2nd Embodiment. In the mobile body management system of the second embodiment, a block diagram showing a schematic configuration of an automatic driving ECU of a self-propelled bogie unit. A flowchart for explaining the operation of the automatic driving ECU of the self-propelled bogie portion in the mobile body management system of the second embodiment. A flowchart for explaining the operation of the automatic driving ECU when the vehicle height of mobility is limited in the mobile body management system of the second embodiment. (A), (b) The figure which shows the vehicle height of mobility in the mobile body management system of 2nd Embodiment. The figure which shows the case where there are three travel route candidates in the mobile body management system of 2nd Embodiment. A flowchart for explaining the operation of the automatic driving ECU when there is a braking limit on a downhill in the mobile body management system of the second embodiment. The figure which shows the relationship between the climbable angle and the braking force of mobility in the moving body management system of 2nd Embodiment. The figure which shows the case where there are three travel route candidates in the mobile body management system of 2nd Embodiment. In the mobile body management system of the second embodiment, a flowchart for explaining the operation of the automatic driving ECU when the distance and timing for applying the braking force to the stop braking in mobility are controlled by the cabin unit mounting information. (A), (b) The figure which shows an example of the braking distance change according to the acceleration level in the moving body management system of 2nd Embodiment. The figure which shows an example of the time to reach the target speed by the difference of the acceleration level in the moving body management system of 2nd Embodiment. In the mobile body management system of the second embodiment, a flowchart for explaining the turning speed control in the automatic driving ECU of the self-driving carriage unit. (A), (b) Explanatory drawing for obtaining the turning speed of mobility in the mobile body management system of the second embodiment. A side view showing the appearance of mobility of the mobile management system of the third embodiment. A side view showing the appearance of a modified example [1] of the self-propelled bogie portion of mobility in the mobile body management system of the third embodiment. A side view showing the appearance of a modified example [2] of the self-propelled bogie portion of mobility in the mobile body management system of the third embodiment. In the mobile body management system of the third embodiment, a side view showing a state in which the protruding portion of the self-propelled bogie portion is folded. A side view showing the appearance of a modified example [1] of the cabin portion of the mobility in the mobile body management system of the third embodiment. It is a side view which shows the appearance of the modification [2] of the cabin part of mobility in the mobile body management system of 3rd Embodiment. In the mobile body management system of the third embodiment, a block diagram showing an electrical configuration of a self-propelled bogie portion of mobility. In the mobile body management system of the third embodiment, the block diagram which shows the electric composition of each of the self-propelled bogie part and the cabin part. A flowchart for explaining the operation of the self-propelled bogie unit of mobility in the mobile body management system of the third embodiment. A flowchart for explaining the operation of the cabin unit of the mobility in the mobile body management system of the third embodiment. A flowchart for explaining the operation of the automatic driving device as a monitoring system in the mobile body management system of the third embodiment. In the mobile body management system of the third embodiment, a block diagram showing an electrical configuration of each of a self-propelled bogie unit and a cabin unit. A flowchart for explaining the operation of the self-propelled bogie unit of mobility in the mobile body management system of the third embodiment. A flowchart for explaining the operation of the cabin unit of the mobility in the mobile body management system of the third embodiment.

Hereinafter, an embodiment (hereinafter, referred to as “the present embodiment”) in which the mobile management system according to the present disclosure is specifically disclosed will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanations of already well-known matters and duplicate explanations for substantially the same configuration may be omitted. This is to avoid unnecessary redundancy of the following description and to facilitate the understanding of those skilled in the art. It should be noted that the accompanying drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

Hereinafter, a preferred embodiment for carrying out the present disclosure will be described in detail with reference to the drawings.

(First Embodiment)
Hereinafter, the mobile body management system of the first embodiment will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of the mobile management system 1 of the first embodiment. In the figure, the mobile management system 1 of the first embodiment includes a mobility 2 and a management server 3. Mobility 2 is a mobile body that operates autonomously. The management server 3 manages the operation of the mobility 2.

FIG. 2 is a perspective view showing the appearance of the mobility 2. As shown in the figure, the mobility 2 includes a self-propelled bogie portion (corresponding to the “first body”) 5 and a cabin portion (corresponding to the “second body”) 7 supported by the self-propelled bogie portion 5. And. The self-propelled bogie section 5 has two front wheels 501F (only one of the two front wheels 501F can be seen in FIG. 1) and two rear wheels 501R (only one of the two rear wheels 501R can be seen in FIG. 1). It is equipped with two front wheels 501F and two rear wheels 501R. The two front wheels 501F are steering wheels, and the rear wheels 501R are driving wheels. Incidentally, the front wheels are the front wheels when moving forward, and the rear wheels are the wheels on the opposite side of the front wheels. The two drive wheels 501R are driven by an electric motor 512, which will be described later.

In addition to using the front wheels 501F as steering wheels and the rear wheels 501R as driving wheels, the steering wheels may also serve as driving wheels (a drive system called FF (Front-engine Front-drive)). Further, the self-propelled bogie unit 5 is a four-wheeled vehicle having four wheels 501F and 501R, but may be a unicycle having one wheel. That is, it suffices to have at least one wheel.

On the other hand, the cabin portion 7 does not have wheels, is removable from the self-propelled bogie portion 5, and is mounted on the self-propelled bogie portion 5 to move. The cabin portion 7 is placed on the ground or becomes self-supporting on the legs by being removed from the self-propelled bogie portion 5. The legs of the cabin portion 7 have a foldable structure or a telescopic structure, and are placed on the ground in a folded state and a state of being contracted to the minimum. FIG. 3 is a perspective view showing a state in which the cabin portion 7 is placed directly on the ground. Further, FIG. 4 is a perspective view showing a state in which the leg portion 75 is extended in the vertical direction and the cabin portion 7 is made independent. In FIG. 4, the leg portion 75 can be folded in the direction indicated by the arrow Y1. When the leg portion 75 can be expanded and contracted, it can be expanded and contracted in the direction indicated by the arrow Y2.

The cabin portion 7 shown in FIGS. 3 and 4 is of a vending machine type capable of automatically selling food and drink, but a passenger type on which a person can be carried is also provided with the same leg portion. FIG. 5 is a perspective view showing a state in which the passenger-type cabin portion 8 is self-supporting by the legs. As shown in the figure, the passenger-type cabin portion 8 also has four leg portions 85, and is self-supporting by these leg portions 85.

In the vending machine type cabin portion 7 shown in FIG. 3, drinking water 71 and snacks 72 can be automatically sold. Further, the vending machine type cabin portion 7 may be provided with a signage (digital signage) 73 for advertising or promotion. Further, as shown in FIG. 6, the vending machine type cabin portion 7 can handle magazines 74 such as newspapers and weekly magazines in addition to drinking water 71 and snacks 72. FIG. 7 is a perspective view showing a state in which the vending machine type cabin portion 7 is lowered from the self-propelled bogie portion 5 and placed directly on the ground.

The cabin unit 7 includes a store type as well as a vending machine type. In the store type, it is possible to provide rice balls, lunch boxes, sweets, drinking water, miscellaneous goods, coffee, microwave ovens, and so on. Other usage patterns of the cabin portion 7 are shown in FIGS. 8 to 15. FIG. 8 is a perspective view showing the cabin portion 7 of the store type (product sales type) described above. FIG. 9 is a perspective view showing the advertising type cabin portion 7. FIG. 10 is a perspective view showing the eating and drinking type cabin portion 7. FIG. 11 is a perspective view showing a break type cabin portion 7. FIG. 12 is a perspective view showing the accommodation type cabin portion 7. FIG. 13 is a perspective view showing a shower / toilet type cabin portion 7. FIG. 14 is a perspective view showing the event type cabin portion 7. FIG. 15 is a perspective view showing a leisure type cabin portion 7. The break type cabin portion 7 shown in FIG. 11, the event type cabin portion 7 shown in FIG. 14, and the leisure type cabin portion 7 shown in FIG. 15 are used in a state of being attached to the self-propelled carriage portion 5. Will be done.

As described above, although there are various usage patterns of the cabin portion 7, the battery 720 (see FIG. 1) is mounted on all types. The battery 720 mounted on the cabin 7 is mainly used as a power source for cooling drinking water, boiling water, turning on lights, making sounds, showering, and the like. It is also used to charge the battery 517 of the self-propelled carriage unit 5.

Next, the configurations and operations of the self-propelled bogie section 5 and the cabin section 7 will be described.
In FIG. 1, the self-propelled trolley unit 5 includes a sensor 510, a wireless communication circuit 511, an electric motor 512, a steering control unit 513, a safety device 514, an automatic operation ECU (Electronic Control Unit) 515, and a vehicle control ECU (Electronic Control Unit) 516. , Battery (corresponding to "first secondary battery") 517, BMS (Battery Management System) 518, charger 519, charge control unit 520, battery control unit 521, and charging connector 523,524. The sensor 510 faces the outside of the self-propelled bogie portion 5 of the mobility 2, is arranged on the end portion in a predetermined traveling direction, and is used for monitoring ahead in the predetermined traveling direction. For the sensor 510, for example, a camera or a lidar (Lidar: Light detection and ranging) is used. The information from the sensor 510 is taken into the automatic operation ECU 515.

The wireless communication circuit 511 performs wireless communication with the management server 3 and receives an instruction regarding battery charging (corresponding to an instruction from the outside). A dedicated frequency band, a mobile communication frequency band, or the like is used for wireless communication by the wireless communication circuit 511. The wireless communication circuit 511 outputs the received information on battery charging to the automatic operation ECU 515. The electric motor 512 provides driving force to the two drive wheels 501R of the self-propelled bogie unit 5. The electric power 512 is supplied with the electric power (first electric power) output by the battery 517. The electric power 512 is also supplied with the electric power (fourth electric power) output by the battery 720 of the cabin portion 7. The steering control unit 513 controls to change the wheel angles of the two steering wheels 501F of the self-propelled bogie unit 5. The wheel angle refers to the angle of the wheel based on the direction of the wheel when the self-propelled bogie portion 5 travels straight, and is also generally called a tire angle. The security device 514 is a component for ensuring the safety of lights, turn signals, and the like.

The automatic driving ECU 515 generates information for the self-propelled bogie unit 5 to autonomously travel using the information from the sensor 510, and outputs the information to the vehicle control ECU 516. Further, if there is an instruction regarding battery charging from the management server 3, the automatic driving ECU 515 outputs the instruction to the vehicle control ECU 516. The vehicle control ECU 516 controls the electric motor 512, the steering control unit 513, and the safety device 514 according to the information for autonomous driving from the automatic driving ECU 515. Further, when an instruction regarding battery charging is output from the automatic driving ECU 515, the vehicle control ECU 516 controls the battery control unit 521 according to the instruction. The automatic operation ECU 515 has a CPU (Central Processing Unit) (not shown), a ROM (Read Only Memory) that stores a program for controlling the CPU, and a RAM (Random Access Memory) used for operating the CPU. ing. Details of battery control by the vehicle control ECU 516 will be described later. The vehicle control ECU 516 has a CPU (not shown), a ROM that stores a program for controlling the CPU, and a RAM that is used for operating the CPU.

The battery 517 supplies electric power to each part of the self-propelled bogie unit 5 in addition to supplying electric power to the electric motor 512 of the self-propelled bogie unit 5. The battery 517 is also used to charge the battery 720 of the cabin portion 7. The BMS518 detects the total voltage and remaining capacity of the battery 517 in real time, warns against input / output current and overcurrent, and controls the dedicated charger. The charger 519 charges the battery 517 with electric power supplied from an external power source (not shown). When charging the battery 517 with an external power source, a cable (not shown) of the external power source is connected to the charging connector 523. The charge control unit 520 is controlled by the battery control unit 521 and controls the charging of the battery 517 so that the battery 517 does not become overcharged.

The battery control unit 521 is self-propelled when the cabin unit 7 is attached to the self-propelled trolley unit 5 and the charging connector 524 of the self-propelled trolley unit 5 and the charging connector 726 of the cabin unit 7 are connected. Based on the power output by the battery 517 of the trolley unit 5 (third power), the battery 720 of the cabin unit 7 is charged, and based on the power output by the battery 720 of the cabin unit 7 (fourth power). The battery 517 of the carriage unit 5 is charged. In this case, if the instruction from the management server 3 charges the battery 720 of the cabin unit 7, a signal based on the instruction is given to the battery control unit 521 from the vehicle control ECU 516, and the instruction from the management server 3 is self-propelled. If the battery 517 of the carriage unit 5 is to be charged, a signal based on the instruction is given to the battery control unit 521 from the vehicle control ECU 516.

As described above, the battery control unit 521 is based on the power (third power) output by the battery 517 of the self-propelled trolley unit 5 if the instruction from the management server 3 charges the battery 720 of the cabin unit 7. If the battery 720 of the cabin unit 7 is charged and the instruction from the management server 3 charges the battery 517 of the self-propelled trolley unit 5, the power output by the battery 720 of the cabin unit 7 (fourth power). The battery 517 of the self-propelled trolley unit 5 is charged based on the above. As described above, the battery is charged when the battery 517 of the self-propelled bogie 5 is used to charge the battery 720 of the cabin 7 and the battery 720 of the cabin 7 is used to charge the battery 517 of the self-propelled bogie 5. In addition to enabling both cases, only one of them may be enabled.

When charging the battery between the self-propelled bogie unit 5 and the cabin unit 7, the battery control unit 521 stops the operation of the charger 519 so as not to receive electric power from an external power source.

In FIG. 1, the cabin portion 7 includes an electric fan 710, a first light 711, a second light 712, a coffee machine 713, a first display 714, a second display 715, a payment terminal 716, an electric compressor 717, and a battery 720. It includes a BMS 721, a charger 722, a charge control unit 723, and charging connectors 725 and 726. The electric fan 710 is used for air conditioning in the cabin portion 7. The first light 711 is used as an outdoor light of the cabin portion 7. The first light 711 illuminates, for example, the outer wall of the cabin portion 7. The second light 712 is used for the interior light of the cabin portion 7. The coffee machine 713 has an electrical heat source, and the heat source is used to boil water to extract coffee.

The first display 714 is used as a signage in a vehicle when the cabin portion 7 is used as a store, for example. The second display 715 is used as a signage outside the vehicle when the cabin portion 7 is used as a store, for example. A large liquid crystal display, an organic EL (Electro Luminescence) display, or the like is used for the first display 714 and the second display 715. The payment terminal 716 is used for payment in the sale and purchase of goods when the cabin unit 7 is used as a store, for example. The electric compressor 717 is used for heating / cooling or refrigerating showcase in the cabin portion 7. The electric fan 710, the first light 711, the second light 712, the coffee machine 713, the first display 714, the second display 715, the payment terminal 716, and the electric compressor 717 correspond to a predetermined power load. ..

The battery 720 supplies electric power to various electric devices (the electric fan 710, the first light 711, etc. described above) of the cabin portion 7. The battery 720 is also used to charge the battery 517 of the self-propelled bogie unit 5 when the cabin unit 7 is mounted on the self-propelled bogie unit 5. The battery 720 is also used as electric power for operating the electric motor 512 of the self-propelled bogie unit 5 when the cabin unit 7 is mounted on the self-propelled bogie unit 5. The electric motor 512 drives two drive wheels 501R based on the electric power (first electric power) output by the battery 517 of the self-propelled trolley unit 5 and the electric power (fourth electric power) output by the battery 720 of the cabin unit 7.

The BMS721 has the same function as the BMS518 of the self-propelled bogie unit 5, detects the total voltage and remaining capacity of the battery 720 in real time, warns against input / output current and overcurrent, and controls the dedicated charger. Do. The charger 722 charges the battery 720 with electric power supplied from an external power source (not shown) through the charging connector 725. When charging the battery 720 with electric power from an external power source, a cable (not shown) of the external power source is connected to the charging connector 725. FIG. 16 is a perspective view showing a state in which the battery 720 of the cabin portion 7 is charged by an external power source. As shown in the figure, the connector 22 of the cable 21 from the external power supply is connected to the charging connector 725.

In this way, when the cabin unit 7 is mounted on the self-propelled carriage unit 5, the battery 720 of the cabin unit 7 can be charged by the electric power of the battery 517 of the self-propelled carriage unit 5, but the cabin unit 7 When not mounted on the self-propelled carriage section 5, the battery 720 of the cabin section 7 can be charged by electric power from an external power source. The charge control unit 723 is controlled by the BMS 721 and controls the charging of the battery 720 so that the battery 720 is not overcharged.

Here, the details of the battery control in the vehicle control ECU 516 of the self-propelled bogie unit 5 will be described.
In the vehicle control ECU 516 of the self-propelled trolley unit 5, the voltage of the battery (first secondary battery) 517 of the self-propelled trolley unit 5 is the first when the cabin unit 7 is mounted on the self-propelled trolley unit 5. When the value is smaller than the value and the voltage of the battery (second secondary battery) 720 of the cabin portion 7 is larger than the second value, the battery 517 is charged based on the fourth power output by the battery 720. That is, the battery 720 having a large voltage is charged to the battery 517 having a small voltage.

The vehicle control ECU 516 of the self-propelled trolley unit 5 is used when the cabin unit 7 is mounted on the self-propelled trolley unit 5 and the voltage of the battery (second secondary battery) 720 is smaller than the third value. When the voltage of the battery (first secondary battery) 517 is larger than the fourth value, the battery 720 is charged based on the third power output by the battery 517. That is, the battery 517 having a large voltage is charged to the battery 720 having a small voltage.

The vehicle control ECU 516 of the self-propelled bogie unit 5 outputs a battery (second secondary battery) 720 based on the usage schedule of the cabin unit 7 when the cabin unit 7 is mounted on the self-propelled bogie unit 5. The battery 517 is charged based on the fourth value. Here, the usage schedule is, for example, a "daily business plan". For example, in the case of a mobile convenience store (convenience store), the cabin section 7 moves to the business location based on the daily business plan and returns to the garage and warehouse after business, but based on the business plan, the self-propelled trolley When moving by attaching to the part 5, if the future schedule is to return to the garage and charge it, the battery 720 of the cabin part 7 is not used for business, so it has the role of charging the power battery side. It becomes the usage. The usage schedule may be given by the management server 3 or may be written directly to the memory of the vehicle control ECU 516.

The vehicle control ECU 516 of the self-propelled trolley unit 5 is a battery (first secondary battery) 517 based on the movement schedule of the self-propelled trolley unit 5 when the cabin unit 7 is mounted on the self-propelled trolley unit 5. Charges the battery 720 based on the third electric power output by. Here, the moving schedule is, for example, a "one-day running plan". For example, the usage is the same as the usage schedule described above, but the self-propelled bogie unit 5 also has a daily travel plan in advance, and when the cabin unit 7 is attached and moved, the self-propelled bogie unit 5 has this When a large amount of the remaining battery 517 remains with respect to the traveling plan until the post-charging, the usage method is to charge the battery 720 of the cabin portion 7. The movement schedule may be given by the management server 3 or may be written directly to the memory of the vehicle control ECU 516.

The wireless communication circuit 511 of the self-propelled trolley unit 5 receives an instruction from the management server 3, and the vehicle control ECU 516 responds to the instruction based on the third electric power output by the battery 517 of the self-propelled trolley unit 5. In addition to charging the battery 720 of the cabin unit 7, the cabin unit 7 is provided with a wireless communication circuit 511 and a vehicle control ECU 516, and the vehicle control ECU 516 responds to an external instruction received by the wireless communication circuit 511. Then, the battery 517 of the self-propelled trolley unit 5 may be charged based on the fourth electric power output by the battery 720 of the cabin unit 7. In this case, the case of charging the battery 720 of the cabin unit 7 based on the third electric power output by the battery 517 of the self-propelled carriage unit 5 and the case of charging the battery 720 of the cabin unit 7 based on the fourth electric power output by the battery 720 of the cabin unit 7 In addition to enabling both of the cases where the battery 517 of the carriage unit 5 is charged, only one of them may be enabled.

Further, the battery may be provided only on the self-propelled bogie portion 5 side, or the battery may be provided only on the cabin portion 7 side.

FIG. 17 is a flowchart for explaining the operation of the mobile management system 1 of the first embodiment in the mobility 2. The flowchart shown in the figure shows the operation in each of the mobility 2 and the management server 3. In the figure, first, in the mobility 2, the management server 3 is notified of the remaining battery levels of the battery 517 of the self-propelled bogie unit 5 and the battery 720 of the cabin unit 7 (step S1). That is, the vehicle control ECU 516 of the self-propelled bogie unit 5 of the mobility 2 acquires the remaining battery level of the battery 517 from the BMS 518 of the self-propelled bogie unit 5, and acquires the remaining battery level of the battery 720 from the BMS 721 of the cabin unit 7. .. Then, the management server 3 is notified of the remaining battery levels of the acquired batteries 517 and 720.

When the management server 3 receives the notification of the remaining battery levels of the batteries 517 and 720 from the mobility 2, the management server 3 determines the battery usage plan of the self-propelled bogie section 5 and the cabin section 7 from the future operation status, running plan, and charging plan. Calculate (step S2). Next, the management server 3 notifies the self-propelled bogie unit 5 of the calculated battery usage plan (step S3).

When the battery usage plan is notified to the self-propelled bogie unit 5, the vehicle control ECU 516 of the self-propelled bogie unit 5 uses the batteries 517 and 720 based on the usage plan notified from the management server 3 (step S4). When the vehicle control ECU 516 starts using the batteries 517 and 720, the vehicle control ECU 516 monitors the usage status of each of the batteries 517 and 720 (step S5), and if the use of the batteries 517 and 720 does not meet the plan, the process of step S2 is performed. Return. On the other hand, when the use of the batteries 517 and 720 is as planned, the batteries 517 and 720 are used as they are (step S6), and this process is completed.

As described above, according to the mobility 2 constituting the mobile body management system 1 of the first embodiment, various control methods are possible by mounting batteries in both the self-propelled bogie section 5 and the cabin section 7. , It is effective in the following cases.
(1) While using the battery 720 of the cabin unit 7 while traveling, the battery 517 of the self-propelled bogie unit 5 can be charged, and the mileage of the self-propelled bogie unit 5 can be extended.
(2) When returning to the warehouse at a mobile store or the like, if there is a remaining battery level, it can be used for running power or charging the self-propelled trolley unit 5.
(3) Calculate the charging time after running and the charging timing that extends the life of the batteries 517 and 720 from the running plan and the remaining battery power on the self-propelled trolley 5 side and the cabin 7 side, and use which battery. It can be controlled, and the management server 3 can control it to realize efficient reuse of the battery.

If the battery is provided only on the self-propelled bogie 5 side, it is not necessary to mount the battery 720 on the cabin 7 side if the cabin 7 side does not use electric power or if an external power source can be obtained at the destination. Therefore, the degree of freedom in designing the cabin portion 7 is increased, the weight is reduced, and the electric power cost is improved. In addition, since the battery itself is not installed, the cost is reduced. On the other hand, when the battery 720 is mounted only on the cabin 7 side, the self-propelled bogie 5 side must be driven with the cabin having the battery mounted, but when the battery is consumed, the cabin has been charged. By replacing it with the cabin part of, it can continue to operate without having time to charge. As a result, the assets of the mobility 2 itself can be reduced.

(Second Embodiment)
Next, the mobile body management system of the second embodiment will be described.
The moving body management system 15 of the second embodiment is a mobility having a separated structure including a self-propelled carriage portion and a cabin portion that can be attached to and detached from the self-propelled carriage portion, and the cabin portion is attached to the self-propelled carriage portion. In this case, the self-propelled bogie unit acquires the attribute information of the cabin unit, and has a function of switching the traveling control of autonomous traveling based on the acquired attribute information.

By having a function to switch the driving control, when the cabin part especially carries infants, toddlers, and elderly people, it is possible to change the driving conditions such as acceleration during acceleration / deceleration and acceleration during turning with an emphasis on ride quality, resulting in motion sickness. When carrying fragile or vibration-sensitive items as cargo, the cabin not only changes to acceleration for safe transportation, but also on rough roads with large vibrations. It can be safely transported while avoiding steep slopes and traffic jams.

FIG. 18 is a block diagram showing a schematic configuration of the mobile management system 15 of the second embodiment. In the figure, the mobile management system 15 of the present embodiment includes a mobility 16 and a management server 19. The mobility 16 is a mobile body that operates autonomously. The management server 19 provides the mobility 16 with external information such as weather information and traffic information (traffic jam, accident regulation, etc.).

The mobility 16 includes a self-propelled bogie portion (corresponding to the "first body") 17 and a cabin portion (corresponding to the "second body") 18 mounted on the self-propelled bogie portion 17. The self-propelled bogie 17 has two front wheels 170F (only one of the two front wheels 170F can be seen in FIG. 18) and two rear wheels 170R (only one of the two rear wheels 170R can be seen in FIG. 18). It is equipped with two front wheels 170F and two rear wheels 170R. The two front wheels 170F are steering wheels, and the rear wheels 170R are driving wheels. Incidentally, the front wheels are the front wheels when moving forward, and the rear wheels are the wheels on the opposite side of the front wheels. In addition to using the front wheels 170F as steering wheels and the rear wheels 170R as driving wheels, the steering wheels may also serve as driving wheels (a drive system called FF). The self-propelled bogie unit 17 is a four-wheeled vehicle having four wheels 170F and 170R, but may be a unicycle having one wheel. That is, it suffices to have at least one wheel.

In addition to the wheels 170F and 170R described above, the self-propelled trolley unit 17 includes a communication device 171, a sensor 172, a drive control unit 173, a steering control unit 174, a safety device 175, a battery (battery) 176, a charger 177, and automatic operation. It includes an ECU (attribute information acquisition circuit) 178 and a vehicle control ECU 179. The communication device 171 performs wireless communication with the management server 19 and acquires external information such as weather information and traffic information (traffic jam / accident regulation, etc.). For wireless communication by the communication device 171, a dedicated frequency band, a frequency band for mobile communication, or the like is used. The sensor 172 faces the outside of the self-propelled bogie portion 17 of the mobility 16 and is arranged on the end portion in a predetermined traveling direction, and is used for monitoring ahead in the predetermined traveling direction. For the sensor 172, for example, a camera or a rider is used. The information of the sensor 172 is taken into the automatic operation ECU 178.

The drive control unit 173 controls an electric motor (not shown) that provides driving force to the two drive wheels 170R, which are the drive wheels of the self-propelled bogie unit 17. The steering control unit 174 controls to change the wheel angles of the two wheels 170F, which are the steering wheels of the self-propelled bogie unit 17. The wheel angle refers to the angle of the wheel based on the direction of the wheel when the self-propelled bogie portion 17 travels straight, and is also generally called a tire angle. The security device 175 is a component for ensuring the safety of lights, turn signals, and the like. The battery 176 supplies electric power to the above-mentioned electric motor (not shown). The charger 177 charges the battery 176 with electric power supplied from an external power source (not shown).

The automatic driving ECU 178 uses the information from the sensor 172 to generate information for the self-propelled bogie unit 17 to autonomously travel, and outputs the information to the vehicle control ECU 179. The automatic operation ECU 178 has a CPU (not shown), a ROM that stores a program for controlling the CPU, and a RAM that is used for operating the CPU. The details of the control of the automatic operation ECU 178 will be described later. The vehicle control ECU 179 controls the drive control unit 173, the steering control unit 174, and the safety device 175, respectively, according to the information for autonomous driving from the automatic driving ECU 178.

The communication device 171 and the sensor 172 and the automatic driving ECU 178 are connected by an in-vehicle LAN. Further, the automatic driving ECU 178 and the vehicle control ECU 179 are connected by a CAN (Controller Area Network). Further, the vehicle control ECU 179, the drive control unit 173, the steering control unit 174, the security device 175, the battery 176, and the charger 177 are also connected by a CAN. The communication device 171 and the sensor 172 may be wirelessly connected to the automatic operation ECU 178. The vehicle control ECU 179 includes a CPU (not shown), a ROM that stores a program for controlling the CPU, and a RAM that is used for operating the CPU.

On the other hand, the cabin unit 18 is provided with a cabin side ECU (attribute information holding unit) 180. The cabin-side ECU 180 holds the attribute information, and the holding of the attribute information may be realized by an electric circuit such as a memory circuit or by a non-electric circuit such as a bar code. The cabin-side ECU 180 is connected to the automatic driving ECU 178 of the self-propelled bogie unit 17 via an in-vehicle LAN. The cabin-side ECU 180 manages the load on the cabin unit 18, and when the automatic driving ECU 178 of the self-propelled bogie unit 17 notifies that the load on the cabin unit 18 is requested, the cabin unit mount indicates the load on the cabin unit 18. The object information (attribute information) is notified to the automatic driving ECU 178 of the self-propelled bogie unit 17.

In the present embodiment, the automatic driving ECU 178 of the self-propelled bogie unit 17 directly acquires the attribute information held by the cabin side ECU 180 of the cabin unit 18, but the management server 19 holds the attribute information and the attribute information is obtained from the attribute information. May be obtained. That is, the cabin-side ECU 180 of the cabin unit 18 holds the identification information of the cabin unit 18, the management server 19 holds the attribute information, and the automatic operation ECU 178 acquires the identification information held by the cabin-side ECU 180, and the communication device. Attribute information corresponding to the identification information may be acquired via (wireless communication circuit) 171. In this case, the identification information of the cabin side ECU 180 may be held by an electric circuit such as a memory circuit, or may be realized by a non-electric circuit such as a bar code. The automatic driving ECU 178 may not acquire the attribute information from the management server 19, but may acquire the travel control information itself for autonomous driving to switch the traveling control.

Here, FIG. 19 is a diagram showing an example of information on the cabin portion mounted on the cabin side ECU 180. As shown in the figure, the cabin registration information includes the mass of the cabin 18, the vertical height of the cabin 18 exterior (cabin exterior), the position of the center of gravity, the attributes of the vehicle, and the acceleration request. There are levels, allowable slopes, etc. As a registration example, the mass of the cabin portion 18: 900 kg, the height: 2 m, and the position of the center of gravity (X, Y, Z): Xm, Ym, Zm are mentioned. The influence items shown in the figure are the influence on the vehicle (mobility 16), and in the vehicle, the weight, the type / restriction of the load, the center of gravity, the mounting / riding orientation, and the like. In addition, on the road surface, the pavement condition, slope, etc. On the outside, there are weather, traffic jams, accident work, etc. On the other hand, the conditions that affect the vehicle are torque, acceleration, deceleration acceleration, lateral acceleration, turning radius, climbing performance, cruising distance, etc. at the start of movement.

FIG. 20 is a block diagram showing a schematic configuration of the automatic operation ECU 178. In the figure, the automatic driving ECU 178 includes a traveling condition setting unit 181, an HD map 182, a vehicle position calculation unit 183, an obstacle detection unit 184, a travel route generation unit 185, and a vehicle control unit 186. The driving condition setting unit 181 is based on the cabin unit loading information provided by the cabin unit 18 and external information such as weather information and traffic information (traffic jam, accident regulation, etc.) provided by the management server 19, and the mobility 16 Set the driving conditions. The HD map 182 has a high-precision 3D (Dimensional) map, and outputs map information of a destination set as a destination. The own vehicle position calculation unit 183 detects the own vehicle position, that is, the position of the mobility 16 based on the sensor information from the sensor 172. The sensor information for position detection is, for example, information from the rider described above. The obstacle detection unit 184 mainly detects an obstacle in front of the mobility 16 in the traveling direction. The sensor information for detecting an obstacle is, for example, information (video information) from a camera.

The travel route generation unit 185 includes the travel conditions set by the travel condition setting unit 181 and the map information output from the HD map 182, the vehicle position calculated by the vehicle position calculation unit 183, and the obstacle detection unit. A driving route is generated based on the obstacle detected in 184. The vehicle control unit 186 controls the vehicle for traveling the travel route generated by the travel route generation unit 185. The vehicle control unit 186 controls the vehicle with respect to the vehicle control ECU 179.

Next, the operation in the mobile management system 15 of the second embodiment will be described.
FIG. 21 is a flowchart for explaining the operation of the automatic driving ECU 178 of the self-propelled bogie unit 17. In the figure, the automatic operation ECU 178 first acquires the cabin portion mounting information from the cabin side ECU 180 (step S10). The cabin information to be acquired includes the cabin weight, the center of gravity, and the total vehicle height. The automatic driving ECU 178 calculates the performance of the mobility 16 as a whole based on the acquired cabin information (step S11). The performance calculated by the automatic driving ECU 178 is a slope that can be climbed, a cruising range, a turning speed, an acceleration, and the like. The automatic driving ECU 178 sets the destination after calculating the performance of the mobility 16 as a whole (step S12). The destination is input by a person. The automatic driving ECU 178 sets a destination input by a person.

After setting the destination, the automatic operation ECU 178 acquires external information from the management server 19 (step S13). External information includes weather information, traffic information (traffic jam, accident regulation, etc.) and the like. After acquiring the external information from the management server 19, the automatic driving ECU 178 deletes the non-travelable route on the HD map 182 based on the calculated climbing performance, vehicle height limit, and external information (step S14). Next, the automatic driving ECU 178 deletes the non-travelable route, determines whether or not there is a travelable route among the remaining routes (step S15), and determines that there is no travelable route (step S15). When it is determined as "No"), the management server 19 is notified of the inability to drive (step S16). The automatic operation ECU 178 ends this process after notifying the management server 19 that the vehicle cannot travel. When the automatic driving ECU 178 determines in step S15 that there is a route that can be traveled (determined as "Yes"), the automatic driving ECU 178 calculates the shortest route from the route that can be traveled (step S17). It is also possible to select a ride comfort priority route as the shortest route. The ride comfort priority route is a route that satisfies the condition of the roadway being well paved, less ups and downs, less traffic lights, less traffic congestion, and the like.

The automatic operation ECU 178 starts automatic operation after calculating the shortest route from the routes that can be traveled (step S18). That is, the self-propelled bogie unit 17 is driven along the calculated shortest route. After starting the automatic operation, the automatic operation ECU 178 determines whether or not the traveling condition is specified (step S19), and when it is determined that the traveling condition is not specified (when it is determined as "No" in step S19), The self-driving trolley unit 17 is driven at the default speed / acceleration. The automatic driving ECU 178 finishes this process after traveling the self-propelled bogie unit 17 to the destination at the default speed and acceleration. When it is determined in step S19 that the traveling conditions are specified (when it is determined to be "Yes"), the automatic driving ECU 178 changes the upper limit speed / acceleration during the automatic driving to drive the car. Then, when the destination is reached, the main process is completed. It is possible to carry out driving that gives priority to riding comfort, and driving that gives priority to riding comfort includes driving that reduces the number of accelerations and decelerations, driving that suppresses acceleration, and the like.

Next, an outline of control when the vehicle height of the mobility 16 is limited will be described.
FIG. 22 is a flowchart for explaining the operation of the automatic driving ECU 178 when the vehicle height of the mobility 16 is limited. In the figure, the automatic driving ECU 178 first acquires the cabin vehicle height from the cabin-side ECU 180 as cabin unit mounting information, and sets the height H of the entire vehicle (step S30). Here, FIG. 23 is a diagram showing the vehicle height of the mobility 16. In the case of (a) in the figure, the vehicle height of the self-propelled bogie unit 17 is h, the vehicle height of the cabin unit 18 is H ₁ , and the vehicle height of the mobility 16 is h + H ₁ . On the other hand, in the case of (b) in the figure, the vehicle height of the self-propelled bogie unit 17 is h, the vehicle height of the cabin unit 18 is H ₂ , and the vehicle height of the mobility 16 is h + H ₂ . In this case, the vehicle height h of the self-propelled bogie unit 17 is known, and the vehicle heights H ₁ and H ₂ of the cabin unit 18 can be obtained from the cabin unit mounting information.

Returning to FIG. 22, the automatic driving ECU 178 sets the height H of the entire vehicle and then sets the destination (step S31). Next, the automatic driving ECU 178 acquires the height limit H'of the travel route candidate from the HD map 182 (step S32). Next, the automatic driving ECU 178 determines whether or not the travel route candidate is less than the height limit H'(H <H') (step S33), and determines that the travel route candidate is greater than or equal to the height limit H'("No" in step S33. ”), It is determined whether or not there are remaining candidates (driving route candidates) (step S36). When the automatic operation ECU 178 determines that there are remaining candidates (when it is determined as "Yes" in step S36), the automatic operation ECU 178 returns to step S32. When it is determined that there are no remaining candidates (when it is determined as "No" in step S36), the automatic driving ECU 178 ends this process when it is determined that there is no travelable route and the travel is NG (step S37).

When the automatic driving ECU 178 determines in step S33 that the travel route candidate is less than the height limit H'(determines "Yes" in step S33), the automatic driving ECU 178 determines the travel route candidate (step S34). , Start automatic driving (step S35). The automatic driving ECU 178 finishes this process after traveling the self-propelled bogie unit 17 equipped with the cabin unit 18 to the destination.

FIG. 24 is a diagram showing a case where there are three travel route candidates. For example, when the height limit H ₃ is acquired on the route R 3 shown in the figure, the height of the mobility having the self-propelled bogie portion 17 at the height h and _{the cabin portion 18 at the height H 1 is the height limit H 3} When less than, but the travel is possible at the root R3, the height of the mobility with autonomous guided vehicle unit 17 and the cabin 18 of the height H ₂ of the height h is greater than height limit H ₃ And, it is not possible to drive on route R3.

FIG. 25 is a flowchart for explaining the operation of the automatic driving ECU 187 when there is a braking limit on a downhill. In the figure, the automatic operation ECU 178 first acquires the cabin weight m from the cabin side ECU 180 as cabin portion mounting information (step S40). After acquiring the cabin weight m, the automatic driving ECU 178 calculates the climbable angle θ from the vehicle performance and the mounting information (weight m) by the traveling condition setting unit 181 (step S41).

The automatic driving ECU 178 sets the destination after calculating the climbable angle θ (step S42). In setting the destination, HMI (not shown) or management server 19 or the like is used. Next, the automatic driving ECU 178 confirms the maximum slope θ'of the travel route candidate from the HD map 182 (step S43), and determines whether the maximum slope θ'in the candidate route is equal to or less than the climbable angle θ (step S44). .. When the automatic driving ECU 178 determines that the maximum slope θ'in the candidate route is not less than or equal to the climbable angle θ (when it is determined as “No” in step S44, that is, the maximum slope θ'in the candidate route is the climbable angle θ'. (When it is determined that the value exceeds θ), it is determined whether or not there are remaining candidates (step S47). When the automatic operation ECU 178 determines that there are remaining candidates (when it is determined as "Yes" in step S47), the automatic operation ECU 178 returns to step S43. When it is determined that there are no remaining candidates (when it is determined as "No" in step S47), the automatic driving ECU 178 ends this process when it is determined that there is no travelable route and the travel is NG (step S48).

The automatic driving ECU 178 determines the travel route candidate when it is determined in step S44 that the maximum slope θ'in the candidate route is equal to or less than the climbable angle θ (when it is determined as “Yes” in step S44). Then (step S45), automatic driving starts (step S46). The automatic driving ECU 178 finishes this process after traveling the self-propelled bogie unit 17 equipped with the cabin unit 18 to the destination.

FIG. 26 is a diagram showing the relationship between the climbable angle θ and the braking force of the mobility 16. In the figure, "N" indicates the braking force, "m" indicates the vehicle weight, and "g" indicates the gravitational acceleration. Gravity mg acts vertically downward on the mobility 16. The component of the downward force is mgsin θ. When the brake braking force N is mgsin θ or more, the brake braking force is effective. The angle θ is sin ^-1 (N / mg) or less. The angle θ at which the braking force is effective on a downhill changes depending on the weight of the vehicle. Since the climbing performance changes depending on the same weight even on an uphill, the slope θ that can be traveled is determined by the weight m.

FIG. 27 is a diagram showing a case where there are three travel route candidates. For example, when the maximum slope on the route R3 shown in the figure is θ', the condition for traveling on the route R3 is that the maximum slope θ'on the route R3 is equal to or less than the climbable angle θ.

FIG. 28 is a flowchart for explaining the operation of the automatic driving ECU 178 when the distance and timing for applying the braking force to the stop braking in the mobility 16 are controlled by the cabin portion mounting information. In the figure, the automatic operation ECU 178 first acquires the acceleration request level from the cabin side ECU 180 as the cabin portion mounting information (step S50). After acquiring the acceleration request level, the automatic driving ECU 178 calculates the time until the designated speed is reached and the deceleration acceleration for the stop control, and sets them as the traveling conditions (step S51).

Next, the automatic operation ECU 178 sets a condition for starting braking as a traveling condition after detecting an obstacle (step S52). Next, the automatic operation ECU 178 sets the destination (step S53). After setting the destination, the automatic driving ECU 178 selects a route with less acceleration / deceleration such as undulations, traffic jams, and signals of the route from the travel route candidates (step S54). Next, the automatic operation ECU 178 controls acceleration / deceleration so as to be within the designated acceleration range, and travels (step S55).

FIG. 29 is a diagram showing an example of changing the braking distance according to the acceleration level. (A) in the figure shows the braking start timing and the braking start distance due to the difference in acceleration level. As shown in this figure, the acceleration level a3 having a low acceleration level has a longer distance from the detection of an obstacle by the sensor 172 to the braking than the acceleration level a4 having a high acceleration level. (B) in the figure shows the time until the stop due to the difference in the acceleration level. As shown in this figure, the acceleration level a3 having a low acceleration level has a longer time from the detection of an obstacle to the stop by the sensor 172 than the acceleration level a4 having a high acceleration level. FIG. 30 is a diagram showing an example of the time required to reach the target speed due to the difference in acceleration level. As shown in the figure, the time required to reach the target speed is shorter in the acceleration level a4 having a higher acceleration level than in the acceleration level a3 having a lower acceleration level.

FIG. 31 is a flowchart for explaining the turning speed control in the automatic driving ECU 178 of the self-propelled bogie unit 17. In the figure, the automatic operation ECU 178 first acquires the position of the center of gravity of the cabin and the like as the cabin portion mounting information from the cabin side ECU 180 (step S60). Next, the automatic operation ECU 178 sets the destination (step S61). In this case, the automatic operation ECU 178 registers the destination by the HMI (not shown), the management server 19, or the like.

Next, the automatic driving ECU 178 selects a traveling route from the HD map 182 (step S62). _{Then, the set speeds v 0} and v ₁ , v ₂ are compared with respect to each curve on the selected traveling route, and the turning speed in each curve is determined (step S63). The automatic driving ECU 178 acquires the weather conditions (wind speed, etc.) from the management server 19 after determining the turning speed in each curve on the selected traveling route, and determines the final turning speed (step S64). Then, the automatic driving running in consideration of the determined final turning speed is started (step S65). The automatic driving ECU 178 finishes this process after traveling the self-propelled bogie unit 17 equipped with the cabin unit 18 to the destination.

The above-mentioned speeds v ₁ and v ₂ can be obtained as follows.
The position of the center of gravity can be mentioned as a parameter that affects the turning speed.
(A) and (b) of FIG. 32 are explanatory views for obtaining the turning speed of the mobility 16.

Radius of gyration: r
Total mass: m
Turning speed: v
Vehicle center of gravity: G
High center of gravity: h'
Tire spacing: 2w
Gravity acceleration: g
Centrifugal force: F
Coefficient of friction: μ
Friction force toward the center of rotation: f

Under the above conditions, the centrifugal force F is F = mv ² / r.
Friction force toward the center of rotation f = μmg
Limit speed v ₁ for sideslip, since the rate that satisfies F = f,
v ₁ ² = μgr
v ₁ = √ (μgr)
Will be.

With respect to the lifting of the left wheel, the moment M around the ground contact point of the left wheel is
^{M = Fh'-mg2w = mv 2} h '/ r-mg2w
It is expressed by, and when M becomes 0 or more, the wheel tries to rise.
Therefore, the limit speed _{v 2} for floating the
^{_{mv 2 2 h '/ r =}} mg2w
v ₂ ² = g2wr / h'
v ₂ = √ (g2wr / h')
The smaller speed of v ₁ and v ₂ is set as the turning speed.

Since not only the height of the center of gravity but also the total mass and height (vertical direction) are affected by the wind and the like, the turning speed can be changed according to the weather conditions from the management server 19.

Here, the turning speed differs depending on the height of the position of the center of gravity in the cabin portion 18. For example, the cabin portion (second body) 18 has at least a fifth second body and a sixth second body, and the height of the center of gravity of the fifth second body is the first height. When the height of the center of gravity of the sixth second body is higher than the first height and is the second height, and the fifth second body is attached to the cabin portion 18. When the maximum speed of the predetermined turning radius in the traveling control of autonomous traveling is the fifth speed and the sixth second body is mounted on the cabin portion 18, the predetermined turning in the traveling control of autonomous traveling The maximum velocity of the radius is the sixth velocity, which is slower than the fifth velocity.

The turning speed also differs depending on the difference in the mass of the cabin portion 18. For example, the cabin portion (second body) 18 has at least a first second body and a second second body, and the mass of the first second body is the first weight. The mass of the second second body is a second weight that is larger than the first weight, and when the first second body is mounted on the cabin portion 18, in the traveling control of autonomous traveling. When the maximum speed of the predetermined turning radius is the first speed and the second second body is mounted on the cabin portion 18, the maximum speed of the predetermined turning radius in the traveling control of autonomous traveling is the first speed. It is a second speed that is slower than the speed of.

Further, the turning speed also differs depending on the difference in the height of the outer structure of the cabin portion 18 in the vertical direction. For example, the cabin portion (second body) 18 has at least a third second body and a fourth second body, and the height of the third body exterior in the vertical direction is the first. The height in the vertical direction of the fourth second body exterior is a second length that is larger than the first length, and the third second body is attached to the cabin portion 18. When this is done, the maximum speed of the predetermined turning radius in the running control of autonomous running is the third speed, and when the fourth second body is mounted on the cabin portion 18, the running control of autonomous running is performed. The maximum speed of the predetermined turning radius is the fourth speed, which is slower than the third speed.

Further, the selection of the traveling route is also different due to the difference in the vertical height of the exterior of the cabin portion 18. For example, the cabin portion (second body) 18 has at least a third second body and a fourth second body, and the height of the third body exterior in the vertical direction is the first. The length, the vertical height of the fourth second body exterior is larger than the first length, the second length, and the third second body is attached to the cabin portion 18. If this is the case, the travel route in the autonomous travel control is the first route, and when the fourth second body is mounted on the cabin portion 18, the travel route in the autonomous travel control is , This is the second route, which has less restrictions on the height in the route than the first route.

In addition, the selection of the traveling route also differs depending on the difference in the allowable slope of the cabin portion 18. For example, for example, the cabin portion (second body) 18 has at least a seventh second body and an eighth second body, and the allowable slope of the seventh second body is the first slope. When the allowable slope of the eighth second body is a second slope smaller than the first slope and the seventh second body is mounted on the cabin portion 18, The travel route in the autonomous travel control is the third route, and when the eighth second body is mounted on the cabin portion 18, the travel route in the autonomous travel control is from the third route. This is the fourth route with a small maximum slope in the route.

As described above, according to the mobility 16 constituting the moving body management system 15 of the second embodiment, the steering wheels 170F and the driving wheels 170R can autonomously travel, and the attribute information of the cabin portion 18 is acquired. A self-propelled trolley unit 17 having an automatic driving ECU 178 and a cabin unit 18 that can be attached to and detached from the self-propelled trolley unit 17 are provided. The bogie 17 is the mass of the cabin 18, the height of the cabin exterior in the vertical direction, the position of the center of gravity of the cabin 18, the attributes of the vehicle mounted on the cabin 18, the acceleration requirement level of the cabin 18, or the acceleration requirement level of the cabin 18. Since the driving control of autonomous driving is switched based on at least one cabin mounting information among the allowable slopes of the cabin section 18, when the cabin section 18 carries infants, toddlers, and elderly people, the riding comfort is emphasized. By changing the driving conditions such as acceleration during deceleration and acceleration during turning, safe driving without vehicle sickness becomes possible, and the cabin portion 18 carries fragile or vibration-sensitive objects as cargo. In this case, it is possible not only to change the acceleration for safe transportation, but also to avoid rough roads with large vibrations, steep slopes, and traffic jams for safe transportation.

([1] of the third embodiment)
Next, the mobile body management system of [1] of the third embodiment will be described.
The mobile management system of the third embodiment [1] includes mobility and a management server, similarly to the mobile management systems 1 and 15 of the first and second embodiments described above. A reference numeral 25 is given to the mobile body management system of the third embodiment [1], and a reference numeral 26 is given to the mobility constituting the mobile body management system 25. The mobility 26 is a mobile body that operates autonomously.

FIG. 33 is a side view showing the appearance of the mobility 26 of the mobile management system 25 of the third embodiment [1]. As shown in the figure, the mobility 26 includes a self-propelled bogie portion (first body) 27 and a cabin portion (second body) 50 that can be attached to and detached from the self-propelled bogie portion 27. The mobility 26 can travel in a predetermined traveling direction. Here, the predetermined traveling directions are the predetermined traveling directions when the mobility 26 is switched between “forward” and “backward”.

The self-propelled bogie 27 has a rectangular box shape, and has two front wheels 28F (only one of the two front wheels 28F can be seen in FIG. 33) and two rear wheels 28R (two in FIG. 33). Only one of the rear wheels 28R can be seen), and the two front wheels 28F and the two rear wheels 28R run on the ground. The two front wheels 28F are steering wheels, and the rear wheels 28R are driving wheels. Incidentally, the front wheels are the front wheels when moving forward, and the rear wheels are the wheels on the opposite side of the front wheels. In addition to using the front wheels 28F as steering wheels and the rear wheels 28R as driving wheels, the steering wheels may also serve as driving wheels (a drive system called FF). The self-propelled bogie unit 27 is a four-wheeled vehicle having four wheels 28F and 28R, but may be a unicycle having one wheel. That is, it suffices to have at least one wheel.

The self-propelled bogie unit 27 does not move on the wheels 28F and 28R, but may be provided with a propeller and can move while floating in the air by the propeller (for example, a drone).

The self-propelled bogie portion 27 has a support surface 29 capable of supporting at least a part of the cabin portion 50. The self-propelled bogie unit 27 is provided with two sensor circuits 60 and 61 that acquire information on the outside of the self-propelled bogie unit 27. The sensor circuit 60 faces the outside of the self-propelled bogie portion 27, and is an end portion 30 in the forward direction, at least a part of which is arranged below the support surface 29 of the self-propelled bogie portion 27 in the vertical direction. The sensor circuit 61 is an end portion 31 that faces the outside of the self-propelled carriage portion 27 and is in the direction opposite to the forward direction, and at least a part thereof is arranged below the support surface 29 of the self-propelled carriage portion 27 in the vertical direction.

The sensor circuits 60 and 61 have sensors such as a camera, a microphone, and a lidar (Lidar: Light detection and ranging), each of which has an image sensor. Video information is obtained by the cameras of the sensor circuits 60 and 61, audio information is obtained by the microphone, and distance information is obtained by the rider. It is not necessary to have all of the camera, microphone and rider, and it is sufficient to have at least one. The microphone also includes an ultrasonic sensor. The self-propelled bogie unit 27 operates autonomously based on the information acquired by the sensor circuits 60 and 61.

The cabin portion 50 is longer than the vertical length (that is, height) of the self-propelled trolley portion 27, and the horizontal length (that is, the length corresponding to the traveling direction of the mobility 26) is longer than the self-propelled trolley portion 27. It has a rectangular box shape that is slightly shorter than the horizontal length of 27 (that is, the length corresponding to the traveling direction of the mobility 26). You can't see it, but it's actually box-shaped). When the cabin portion 50 is mounted on the self-propelled bogie portion 27, at least a part of the cabin portion 50 is arranged above the self-propelled bogie portion 27 with respect to the length (that is, height) in the vertical direction. For example, if the cabin unit 50 is for carrying a person, the cabin portion 50 is provided with a boarding area on which the passenger can board, and a seat on which the passenger can sit is arranged in the boarding area. A part of the cabin portion 50 may protrude below the self-propelled bogie portion 27, for example.

The shape of the self-propelled bogie portion 27 and the shape of the cabin portion 50 are not limited to the shapes shown in FIG. 33, and various shapes can be considered. Further, the mounting positions of the sensor circuits 60 and 61 are not limited to the positions shown in FIG. 33, and various positions can be considered. An example of these is given.

FIG. 34 is a side view showing the appearance of a modified example [1] of the self-propelled bogie portion 27 of the mobility 26. As shown in the figure, the self-propelled carriage portion 32, which is a modification [1] of the self-propelled carriage portion 27, has a support surface 29 capable of supporting the cabin portion 50, while the end portion 30 in the forward direction and the forward direction. At both ends of the end portion 31 in the opposite direction to the above direction, projecting portions 33 and 34 projecting upward (in the vertical direction) with respect to the support surface 29 are provided. In this case, the protrusion 33 is provided on the end 30 side in the forward direction, and the protrusion 34 is provided on the end 31 side in the direction opposite to the forward direction. At the tip of the protruding portion 33, at least a part of the sensor circuit 60 is arranged above the support surface 29 of the self-propelled bogie portion 27 in the vertical direction. At the tip of the protruding portion 34, at least a part of the sensor circuit 61 is arranged above the support surface 29 of the self-propelled bogie portion 27 in the vertical direction. By providing the projecting portions 33 and 34 and bringing the sensor circuits 60 and 61 to a high position, the monitoring range is widened as compared with the case where the sensor circuits 60 and 61 are provided at the ends 30 and 31 of the self-propelled bogie portion 27 shown in FIG. be able to.

FIG. 35 is a side view showing the appearance of a modified example [2] of the self-propelled bogie portion 27 of the mobility 26. As shown in the figure, the self-propelled bogie portion 35, which is a modification [2] of the self-propelled bogie portion 27, is shorter than the protruding portions 33 and 34 of the self-propelled bogie portion 32 shown in FIG. 34 and is folded inward. It includes possible protrusions 36, 37. A sensor circuit 60 is arranged at the tip of the protrusion 36, and a sensor circuit 61 is arranged at the tip of the protrusion 37.

FIG. 36 is a side view showing a state in which the protruding portions 36 and 37 of the self-propelled bogie portion 35 are folded. By providing the foldable protrusions 36 and 37, both the sensor circuits 60 and 61 can be tilted inward with respect to the self-propelled bogie portion 35 when the sensor circuits 60 and 61 are not used, and an impact from the outside is avoided. It is possible to protect the sensor circuits 60 and 61. In addition to making the protrusions 36 and 37 foldable, it may be possible to expand and contract in the vertical direction. In this case, it goes without saying that both the sensor circuits 60 and 61 can be expanded and contracted.

FIG. 37 is a side view showing the appearance of the modified example [1] of the cabin portion 50 of the mobility 26. As shown in the figure, the cabin portion 51 of the modified example [1] has a triangular shape in a plan view. In the figure, the cabin portion 51 is attached to the self-propelled bogie portion 27, but even if it is attached to the self-propelled bogie portions 32 and 35 of the above-described modified examples [1] and [2] of the self-propelled bogie portion 27. Needless to say, it's good.

FIG. 38 is a side view showing the appearance of the modified example [2] of the cabin portion 50 of the mobility 26. As shown in the figure, the cabin portion 52 of the modified example [2] is larger in plan view than the self-propelled bogie portion 27. That is, it is larger than the self-propelled bogie 27 and has a rectangular shape that protrudes back and forth in the horizontal direction (it looks like a rectangle because it is viewed in a plane in the figure, but it actually has a box shape. ). In the cabin portion 52, a sensor circuit 62 is arranged at an end portion 53 on the forward direction side facing the outside of the self-propelled bogie portion 27. The sensor circuit 62 projects in the horizontal direction from the sensor circuit 60. The sensor circuit 62 has the same configuration as the sensor circuits 60 and 61 described above.

By mounting the cabin section 52, which is larger than the self-propelled bogie section 27 and protrudes forward and backward in the horizontal direction, on the self-propelled bogie section 27, the sensor circuits 60 and 61 arranged on the self-propelled bogie section 27 protrude from the cabin section 52. It may be behind the part. If this happens, an unmonitorable region will be generated in each of the sensor circuits 60 and 61. In FIG. 38, the sensor circuit 60 arranged at the end 30 of the self-propelled bogie portion 27 in the forward direction is behind the protruding portion in front of the cabin portion 52. In such a case, by using the sensor circuit 62 arranged in the cabin portion 52, the unmonitorable region in the sensor circuit 60 arranged in the self-propelled bogie portion 27 can be supplemented.

Next, the electrical configuration of the self-propelled bogie unit 27 and the electrical configuration of the cabin unit 50 will be described. Since the electrical configuration of the self-propelled bogie units 32 and 35 is the same as that of the self-propelled bogie unit 27, the description thereof will be omitted. Further, since the cabin portion 51 is the same as the cabin portion 50, the description thereof will be omitted.

FIG. 39 is a block diagram showing an electrical configuration of the self-propelled bogie portion 27 of the mobility 26. As shown in the figure, the self-propelled carriage unit 27 includes the above-mentioned sensor circuits 60 and 61, an automatic driving device 270, a vehicle control device 271, an electric motor 272, and a battery 273. The sensor circuit 60 is arranged at the end portion 30 of the self-propelled bogie portion 27 in the forward direction, and the sensor circuit 61 is arranged at the end portion 31 in the direction opposite to the forward direction. The sensor circuits 60 and 61 are each composed of two sets of left and right cameras / microphones / sensors. That is, the sensor circuit 60 is composed of the front right camera / microphone / sensor and the front left camera / microphone / sensor, and the sensor circuit 61 includes the rear right camera / microphone / sensor and the rear left camera / microphone / sensor. It consists of a sensor.

The information output from each of the sensor circuits 60 and 61 is taken into the automatic operation device 270. The automatic driving device 270 generates information for the self-propelled bogie unit 27 to autonomously travel by using the information of each of the sensor circuits 60 and 61, and outputs the information to the vehicle control device 271. The automatic operation device 270 has a CPU (not shown), a ROM in which a program for controlling the CPU is stored, and a RAM used for operating the CPU. The vehicle control device 271 controls the electric motor (motor) 272 and the like according to the information for autonomous driving acquired from the automatic driving device 270. The electric motor 272 provides driving force to two drive wheels 28R, which are drive wheels of the self-propelled bogie unit 27. The electric motor 272 is supplied with electric power output from the battery 273. The self-propelled bogie unit 27 of the present embodiment also has a steering control unit for steering, and this steering control unit has wheel angles of two front wheels 28F, which are the steering wheels of the self-propelled bogie unit 27. Control to change. The vehicle control device 271 has a CPU (not shown), a ROM in which a program for controlling the CPU is stored, and a RAM used for operating the CPU.

As described above, in the mobility 26 of the mobile management system 25 of the third embodiment [1], the sensor circuits 60 and 61 are provided only on the self-propelled bogie portion 27 side, regardless of the presence or absence of the cabin portion 50. The behavior of the self-propelled bogie unit 27 can be monitored. Further, since it is not necessary to provide the sensor circuits 60 and 61 on the cabin portion 50 side, which has a larger number than the self-propelled bogie portion 27, the installation cost of the sensor circuits 60 and 61 can be reduced, and the cabin portion 50 is designed. You can increase the degree of freedom.

([2] of the third embodiment)
Next, the mobile body management system of [2] of the third embodiment will be described.
In the mobile body management system 25 of the third embodiment [2], the sensor circuits 60 and 61 are provided only on the cabin portion 50 side. FIG. 40 is a block diagram showing the electrical configurations of the self-propelled bogie section 27 and the cabin section 50, respectively. Here, reference numeral 90 is assigned to the mobility constituting the mobile management system 25 of the third embodiment [2]. Further, a reference numeral 91 is assigned to the self-propelled bogie portion constituting the mobility 90, and a reference numeral 92 is assigned to the cabin portion.

Further, in FIG. 40, the same reference numerals are given to the parts common to those in FIG. 39 described above. As shown in the figure, the self-propelled trolley unit 91 is provided with an automatic driving device 910, a vehicle control device 911, an electric motor 912, a battery 913, a wireless communication circuit 914, and an on-board cabin identification sensor 915. The wireless communication circuit 914 performs wireless communication with the wireless communication circuit 920 of the cabin unit 92, and receives the information of the sensor circuits 60 and 61 transmitted from the wireless communication circuit 920. The on-board cabin identification sensor 915 identifies the cabin portion 92 mounted on the self-propelled bogie portion 91. The automatic driving device 910 generates information for the self-driving car unit 91 to autonomously travel based on the information from the sensor circuits 60 and 61 of the cabin unit 92 and the identification result by the on-board cabin identification sensor 915, and the vehicle. Output to the control device 911. The vehicle control device 911 controls the electric motor 912 and steering control based on the information for autonomous driving from the automatic driving device 910.

The cabin portion 92 is provided with sensor circuits 60 and 61 and a wireless communication circuit 920. The wireless communication circuit 920 performs wireless communication with the wireless communication circuit 914 of the self-propelled bogie unit 91, and transmits information from the sensor circuits 60 and 61.

FIG. 41 is a flowchart for explaining the operation of the self-propelled bogie unit 91 of the mobility 90 in the mobile body management system 25 of the third embodiment [2]. Further, FIG. 42 is a flowchart for explaining the operation of the cabin portion 92 of the mobility 90 in the mobile management system 25 of the third embodiment [2]. In FIG. 41, when the automatic operation device 910 starts operation, it first acquires an initial state (step S70). The initial state includes the state of the cabin portion 92 (riding (mounted) / not riding (not mounted) on the self-propelled bogie unit 91). After acquiring the initial state, the automatic driving device 910 determines whether or not the cabin unit 92 is mounted (that is, whether or not it is mounted) (step S71), and when it is determined that the cabin unit 92 is not mounted (step S71). (When "No" is determined in the above), the cabin portion mounting information is acquired (step S72), and the process returns to the process of step S71. That is, when the automatic driving device 910 determines that the cabin unit 92 is not on board, the automatic driving device 910 repeats the acquisition of the cabin unit mounting information until it is determined that the cabin unit 92 is on board.

When the automatic driving device 910 determines that the cabin section 92 is on the self-propelled bogie section 91 (when it is determined as "Yes" in step S71), the automatic driving device 910 outputs information on the sensor circuits 60 and 61 to the cabin section 92. Request (step S73). Here, the information of the sensor circuits 60 and 61 is exchanged between the wireless communication circuit 914 of the self-propelled bogie unit 91 and the wireless communication circuit 920 of the cabin unit 92. After requesting the information of the sensor circuits 60 and 61, the automatic operation device 910 receives the information (step S74). Next, the automatic operation device 910 activates the monitoring system as a subroutine (step S75). After that, the request for information of the sensor circuits 60 and 61 is canceled (step S76), and this process is completed. The monitoring system is realized by the automatic operation device 910, and the details of the processing will be described later.

On the other hand, in FIG. 42, when the wireless communication circuit 920 starts operation, it is determined whether or not there is a request for information of the sensor circuits 60 and 61 from the self-propelled bogie unit 91 (step S80), and it is determined that the request is not made. In the case (when it is determined as "No" in step S80), this process is repeated until it is determined that there is the request. When the wireless communication circuit 920 determines that the information of the sensor circuits 60 and 61 is requested (when it is determined as "Yes" in step S80), the wireless communication circuit 920 transmits the information of the sensor circuits 60 and 61 (step S81). After that, the wireless communication circuit 920 determines whether or not the request for information of the sensor circuits 60 and 61 has been canceled by the self-propelled bogie unit 91 (step S82), and if it determines that the request has not been canceled (in step S82). (When "No" is determined), the process returns to step S81, and the transmission of the information of the sensor circuits 60 and 61 is continued until the request for the information of the sensor circuits 60 and 61 is cancelled. When the wireless communication circuit 920 determines that the request for information of the sensor circuits 60 and 61 has been canceled by the self-propelled bogie unit 91 (when it determines "Yes" in step S82), the wireless communication circuit 920 ends this process.

FIG. 43 is a flowchart for explaining the operation of the automatic operation device 910 as a monitoring system. In the figure, the automatic driving device 910 acquires information on the sensor circuits 60 and 61 of the cabin unit 92 (step S90). Next, it is determined whether or not to start monitoring and running monitoring (step S91). Here, "monitoring" is monitoring for confirming the inside and outside of the vehicle when the mobility 90, which is a vehicle, is stopped. For example, in the case of a passenger car in which the cabin unit 92 carries a person, the cabin unit 92 monitors the area around the door after the vehicle has stopped. Further, "travel monitoring" is monitoring of the vehicle traveling direction and the like related to traveling. Further, although the vehicle control device 911 determines the start of the monitoring and the traveling monitoring, the schedule may be set in advance.

When the automatic driving device 910 determines that the monitoring and the traveling monitoring are not started (when it is determined as "No" in step S91), the automatic driving device 910 returns to step S90 and continues to acquire the information of the sensor circuits 60 and 61. When it is determined that the automatic driving device 910 starts monitoring and traveling monitoring (when it is determined as "Yes" in step S91), the automatic driving device 910 starts monitoring and traveling monitoring based on the information of the sensor circuits 60 and 61. Then, it is determined whether or not there is any abnormality in the monitoring and the traveling monitoring (step S92). When it is determined that there is an abnormality (when it is determined as "No" in step S92), the vehicle control device 911 is notified of the abnormality (step S93).

When the automatic driving device 910 starts monitoring and running monitoring and determines that there is no abnormality (when it is determined as "Yes" in step S92), it determines whether to end the monitoring and running monitoring (step S94). When it is determined that the monitoring and the traveling monitoring are not completed (when it is determined as "No" in step S94), the automatic driving device 910 returns to step S92 and continues the determination as to whether or not there is any abnormality. When the automatic driving device 910 determines that the monitoring and the traveling monitoring are to be completed (when it is determined to be "Yes" in step S94), the automatic driving device 910 ends this process. Further, although the vehicle control device 911 determines the end of the monitoring and the traveling monitoring, the schedule may be set in advance.

As described above, in the mobility 90 of the mobile body management system 25 of the third embodiment [2], since the sensor circuits 60 and 61 are provided only on the cabin portion 92 side, the cabin portion 92 is attached and not attached. In the case of mobility having a separated structure with the same vehicle height at the time, in addition to the function of driving monitoring, it can be used for applications other than driving monitoring such as door opening / closing monitoring and cabin monitoring.

Further, since the positions of the sensor circuits 60 and 61 can be adjusted for each size of the cabin portion 92, the degree of freedom in designing the cabin portion 92 can be increased.

In addition, the degree of freedom in designing the self-propelled bogie section 91 can be increased. Further, the installation cost can be reduced by enabling the plurality of self-propelled bogie units 91 to be monitored by the sensor circuits 60 and 61 installed in the cabin unit 92.

([3] of the third embodiment)
Next, the mobile body management system of [3] of the third embodiment will be described.
In the mobile body management system 25 of the third embodiment [3], sensor circuits 60 and 61 are provided in both the self-propelled bogie section and the cabin section. The sensor circuit on the self-propelled bogie side acquires at least information on the outside of the self-propelled bogie, and the sensor circuit on the cabin side acquires at least information on the outside of the cabin.

FIG. 44 is a block diagram showing the electrical configurations of the self-propelled bogie section 94 and the cabin section 92, respectively. Here, reference numeral 93 is assigned to the mobility constituting the mobile management system 25 of the third embodiment [3]. Further, a reference numeral 94 is assigned to the self-propelled bogie portion constituting the mobility 93, and a reference numeral 92 similar to that of the cabin portion of FIG. 40 is assigned to the cabin portion. Further, reference numerals 60A and 61A are given to the sensor circuit on the self-propelled bogie portion 94 side, and reference numerals 60B and 61B are given to the sensor circuit on the cabin portion 92 side. The sensor circuits 60A and 61A on the self-propelled bogie 94 side correspond to the first sensor circuit, and the sensor circuits 60B and 61B on the cabin 92 side correspond to the second sensor circuit. Since the configurations of the self-propelled bogie section 94 and the cabin section 92 are as described above, the description thereof will be omitted here.

FIG. 45 is a flowchart for explaining the operation of the self-propelled bogie unit 94 of the mobility 93 in the mobile body management system 25 of the third embodiment. Further, FIG. 46 is a flowchart for explaining the operation of the cabin portion 92 of the mobility 93 in the mobile management system 25 of the third embodiment [3]. In FIG. 45, when the automatic operation device 910 starts operation, it first acquires an initial state (step S100). Next, the automatic driving device 910 determines whether or not the cabin section 92 is on board (that is, whether or not the cabin section 92 is mounted on the self-propelled bogie section 94) (step S101), and determines that the cabin section 92 is not on board. (When "No" is determined in step S101), the monitoring system is started (step S102). When the monitoring system is activated, the automatic driving device 910 monitors based on the information from the sensor circuits 60A and 61A of the self-propelled bogie unit 94. The automatic operation device 910 finishes this process after activating the monitoring system. When the automatic driving device 910 determines that the cabin portion 92 is on board (when it is determined as "Yes" in step S101), the automatic driving device 910 requests information from the sensor circuits 60B and 61B of the cabin portion 92 (step S103). .. When the information of the sensor circuits 60B and 61B is transmitted from the cabin unit 92, the information is received (step S104).

Next, the automatic operation device 910 activates the monitoring system (step S105). The monitoring system monitors based on the information from the sensor circuits 60B and 61B of the cabin unit 92. After activating the monitoring system, the automatic operation device 910 cancels the information request of the sensor circuits 60B and 61B to the cabin unit 92 (step S106), and ends this process.

On the other hand, in FIG. 46, the wireless communication circuit 920 determines whether or not there is a request for information on the sensor circuits 60B and 61B from the self-propelled bogie unit 94 (step S110), and determines that there is no such request (in step S110). If "No" is determined), this determination is repeated until there is a request for the information. When the wireless communication circuit 920 determines that the information of the sensor circuits 60B and 61B is requested (when it is determined as "Yes" in step S110), the wireless communication circuit 920 transmits the information from the sensor circuits 60B and 61B (step S111). After transmitting the information, it is determined whether or not the self-propelled bogie unit 94 has canceled the request for information of the sensor circuits 60B and 61B (step S112), and it is determined that the request for the information has not been canceled (in step S112). (When "No" is determined), the process returns to step S111, and the transmission of information from the sensor circuits 60B and 61B is continued. When the wireless communication circuit 920 determines that the request for information of the sensor circuits 60B and 61B has been canceled (when it determines "Yes" in step S112), the wireless communication circuit 920 ends this process.

In the moving body management system 25 of [3] of the third embodiment, when the cabin unit 92 is not mounted on the self-propelled bogie unit 94, only the information from the sensor circuits 60A and 61A of the self-propelled bogie unit 94 is acquired. However, when the cabin section 92 is mounted on the self-propelled bogie section 94, only the information from the sensor circuits 60B and 61B of the cabin section 92 is acquired, but even if both information are acquired at the same time. good. That is, it may be as follows.

(1) The sensor circuits 60A and 61A acquire the information on the outside of the self-propelled bogie portion 94, and the sensor circuits 60B and 61B do not acquire the information on the outside of the cabin portion 92.
(2) The sensor circuits 60A and 61A do not acquire the information on the outside of the self-propelled bogie portion 94, and the sensor circuits 60B and 61B acquire the information on the outside of the cabin portion 92.
(3) At the same time that the sensor circuits 60A and 61A acquire the information on the outside of the self-propelled bogie portion 94, the sensor circuits 60B and 61B acquire the information on the outside of the cabin portion 92.

As described above, in the mobility 93 of the mobile body management system 25 of the third embodiment [3], the sensor circuits 60A and 61A required when the cabin portion 92 is not mounted are mounted on the self-propelled bogie portion 94 side. By mounting the sensor circuits 60B and 61B required when the cabin portion 92 is mounted on the cabin portion 92 side, the self-propelled bogie portion 52 has a larger size and structure as shown in FIG. 38. Even if it is placed on the 94, it can be monitored without creating an unmonitorable area. That is, when the cabin portion 52, which is larger than the self-propelled bogie portion 94 and protrudes forward and backward in the horizontal direction, is attached to the self-propelled bogie portion 94, the sensor circuits 60A and 61A on the self-propelled bogie portion 94 side protrude from the cabin portion 52. Even if it is behind the portion, the unmonitorable area of the sensor circuits 60A and 61A can be supplemented by the sensor circuits 60B and 61B on the cabin portion 52 side.

The mobile body management system of the present disclosure is useful for a system that manages autonomously movable vehicles such as motorcycles and automobiles.

1,15,25 Mobile management system 2,16,26,90,93 Mobility 5,17,27,32,35,91,94 Self-propelled trolley section 7,8,18,50,51,52,92 Cabin Part 3,19 Management server 21 Cable 22 Connector 28F, 170F, 501F Steering wheel 28R, 170R, 501R Drive wheel 29 Support surface 30, 31, 53 End part 33, 34, 36, 37 Protruding part 60, 61, 60A, 61A , 60B, 61B, 62 Sensor circuit 71 Drinking water 72 Snacks 73 Signage 74 Magazines 75,85 Legs 171 Communication device 172,510 Sensor 173 Drive control unit 174,513 Steering control unit 175,514 Security equipment 176,273 517,720,913 Battery 177,519,722 Charger 178,515 Automatic operation ECU
179,516 Vehicle control ECU
180 Cabin side ECU
181 Driving condition setting unit 182 HD map 183 Vehicle position calculation unit 184 Obstacle detection unit 185 Driving route generation unit 186 Vehicle control unit 270,910 Automatic driving device 271,911 Vehicle control device 272,912 Electric motor 511,914,920 Wireless communication circuit 512 Electric motor 518,721 BMS
520, 723 Charge control unit 521 Battery control unit 523,524,725,726 Charging connector 710 Electric fan 711 1st light 712 2nd light 713 Coffee machine 714 1st display 715 2nd display 716 Payment terminal 717 Electric compressor 915 on-board cabin identification sensor

Claims (10)

A first body having at least one steering wheel and at least one driving wheel and capable of autonomously traveling by the steering wheel and the driving wheel.
A second body that can be attached to and detached from the first body is provided.
The first body has an attribute information acquisition circuit that acquires the attribute information of the second body.
When the second body is attached to the first body, the first body is a moving body that switches the running control of autonomous running based on the attribute information of the second body.
The attribute information of the second body is
The mass of the second body,
The height of the second body exterior in the vertical direction,
The position of the center of gravity of the second body,
Attributes of the vehicle on board the second body,
The acceleration requirement level of the second body, or the allowable slope of the second body,
Including at least one of
Mobile body. The moving body according to claim 1.
The steering wheel and the driving wheel are the same,
Mobile body. The moving body according to claim 1 or 2.
The second body includes an attribute information holding unit that holds the attribute information of the second body.
The attribute information acquisition circuit of the first body acquires the attribute information held by the attribute information holding unit of the second body.
Mobile body. The moving body according to claim 1 or 2.
The second body includes an identification information holding unit that holds the identification information of the second body.
The first body includes a wireless communication circuit capable of communicating with an external server.
When the second body is attached to the first body, the attribute information acquisition circuit acquires the identification information held by the identification information holding unit of the second body, and obtains the identification information via the wireless communication circuit. To acquire the attribute information corresponding to the identification information,
Mobile body. The moving body according to any one of claims 1 to 4.
The second body has at least a first second body and a second second body.
The mass of the first second body is the first weight, and is
The mass of the second second body is a second weight that is larger than the first weight.
When the first second body is attached to the first body, the maximum speed of the predetermined turning radius in the traveling control of the autonomous traveling is the first speed.
When the second second body is attached to the first body, the maximum speed of the predetermined turning radius in the running control of the autonomous running is a second speed slower than the first speed. is there,
Mobile body. The moving body according to any one of claims 1 to 5.
The second body has at least a third second body and a fourth second body.
The height of the third body exterior in the vertical direction is the first length.
The height of the fourth body exterior in the vertical direction is a second length that is larger than the first length.
When the third second body is attached to the first body, the maximum speed of the predetermined turning radius in the traveling control of the autonomous traveling is the third speed.
When the fourth second body is attached to the first body, the maximum speed of the predetermined turning radius in the running control of the autonomous running is a fourth speed slower than the third speed. is there,
Mobile body. The moving body according to any one of claims 1 to 6.
The second body has at least a fifth second body and a sixth second body.
The height of the position of the center of gravity of the fifth second body is the first height.
The height of the position of the center of gravity of the sixth second body is a second height higher than the first height.
When the fifth second body is attached to the first body, the maximum speed of the predetermined turning radius in the traveling control of the autonomous traveling is the fifth speed.
When the sixth second body is attached to the first body, the maximum speed of the predetermined turning radius in the running control of the autonomous running is a sixth speed slower than the fifth speed. is there,
Mobile body. The moving body according to any one of claims 1 to 7.
The second body has at least a third second body and a fourth second body.
The height of the third body exterior in the vertical direction is the first length.
The height of the fourth body exterior in the vertical direction is a second length that is larger than the first length.
When the third second body is attached to the first body, the traveling route in the traveling control of the autonomous traveling is the first route.
When the fourth second body is attached to the first body, the traveling route in the traveling control of the autonomous traveling is a second route having a looser height restriction in the route than the first route. ,
Mobile body. The moving body according to any one of claims 1 to 8.
The second body has at least a seventh second body and an eighth second body.
The permissible slope of the seventh second body is the first slope.
The permissible slope of the eighth body is a second slope that is smaller than the first slope.
When the seventh second body is attached to the first body, the traveling route in the traveling control of the autonomous traveling is the third route.
When the eighth body is attached to the first body, the traveling route in the traveling control of the autonomous traveling is the fourth route having a smaller maximum slope in the route than the third route. ,
Mobile body. A first body having at least one steering wheel and at least one driving wheel and capable of autonomously traveling by the steering wheel and the driving wheel.
A traveling control switching control method for autonomous traveling of a mobile body, which can be used in a moving body including a second body that can be attached to and detached from the first body.
When the second body is attached to the first body, the attribute information of the second body is acquired, and the traveling control of the autonomous traveling is switched based on the attribute information of the second body.
The attribute information of the second body is
The mass of the second body,
The height of the second body exterior in the vertical direction,
The position of the center of gravity of the second body,
Attributes of the vehicle on board the second body,
The acceleration requirement level of the second body, or the allowable slope of the second body,
Including at least one of
Travel control switching control method for autonomous traveling of a moving body.

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